摘要
对视觉导航辅助下的无人机自主降落问题进行了研究:利用Harris角点检测和轮廓检测等图像识别方法,设计了基于针孔摄像机模型的无人机位姿估计算法;对无人机的自主降落控制算法进行了研究,采用比例—积分—微分(PID)控制方法,设计了无人机自主降落过程中的位姿控制器和云台控制器,在此基础上,创新性地提出了无人机的3种降落模式,并分别在各模式下进行了自主降落试验。试验结果表明:3种模式下无人机均能实现自主降落,但前2种模式由于视觉反馈次数低的原因,有较大降落误差,而第3种模式由于采用云台伺服追踪和速度控制,实现了高精度的无人机自主着陆。
The problem of autonomous landing of unmanned aerial vehicle（ UAV） under the aid of visual navigation is studied. Use image recognition method such as Harris corner detection and contour detection,pose estimation algorithm based on pinhole camera model is designed. Autonomous landing control algorithm for UAV is studied. The pose controller and the pan/tilt/zoom（ PTZ） controller in the process of UAV landing are designed using proportional-integral-differential（ PID） control method. On this basis,three landing modes of UAVs are innovatively proposed,and the autonomous landing test is carried out in each mode. The test results show that the UAV can be successful landing in three modes. Due to low visual feedback frequency,UAV in the first two modes has a larger landing error. UAV in the third mode achieves a high-precision landing because of using PTZ servo tracking control and speed control.
作者
张舸
伊国兴
高翔
ZHANG Ge, YI Guo-xing, GAO Xiang(Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China)
出处
《传感器与微系统》
CSCD
2018年第9期77-80,83,共5页
Transducer and Microsystem Technologies
关键词
旋翼无人机
视觉导航
自主降落
位姿估计算法
飞行控制器
rotor unmanned aerial vehicle （UAV）
visual navigation
autonomous landing
pose estimation algorithm
flight controller
